949 lines
39 KiB
C#
949 lines
39 KiB
C#
using CapMachine.Wpf.Models.Tag;
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using CapMachine.Wpf.Services;
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using HslCommunication;
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using NLog;
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using NPOI.OpenXmlFormats.Wordprocessing;
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using Prism.Ioc;
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using Prism.Mvvm;
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Diagnostics;
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using System.IO;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using System.Windows.Interop;
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using static CapMachine.Wpf.CanDrive.USB2CAN;
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namespace CapMachine.Wpf.CanDrive
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{
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/// <summary>
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/// Toomoss CAN
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/// </summary>
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public class ToomossCan : BindableBase
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{
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private readonly IContainerProvider ContainerProvider;
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/// <summary>
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/// 实例化函数
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/// </summary>
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public ToomossCan(IContainerProvider containerProvider)
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{
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ContainerProvider = containerProvider;
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HighSpeedDataService = ContainerProvider.Resolve<HighSpeedDataService>();
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LoggerService = ContainerProvider.Resolve<ILogService>();
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//Stopwatch.Frequency表示高精度计时器每秒的计数次数（ticks/秒）每毫秒的ticks数 = 每秒的ticks数 ÷ 1000
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TicksPerMs = Stopwatch.Frequency / 1000.0;
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}
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/// <summary>
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/// 开始CAN的驱动
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/// </summary>
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public void StartCanDrive()
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{
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IsExistsDllFile();
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ScanDevice();
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OpenDevice();
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GetDeviceInfo();
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GetCANConfig();
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InitCAN();
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}
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/// <summary>
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/// HighSpeedDataService 实例
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/// </summary>
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public HighSpeedDataService HighSpeedDataService { get; set; }
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/// <summary>
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/// Logger 实例
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/// </summary>
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public ILogService LoggerService { get; set; }
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/// <summary>
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/// 开始Dbc文件写入
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/// </summary>
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public ObservableCollection<CanDbcModel> StartDbc(string DbcPath)
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{
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DBC_Parser(DbcPath);
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return ListCanDbcModel;
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}
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///// <summary>
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///// 获取Can DBC数据集合
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///// </summary>
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//public void LoadCanDbcData(ObservableCollection<CanDbcModel> canDbcModels)
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//{
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// ListCanDbcModel = canDbcModels;
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//}
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/// <summary>
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/// Dbc消息集合
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/// 包括读取的实时值和数据
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/// </summary>
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public ObservableCollection<CanDbcModel> ListCanDbcModel { get; set; } = new ObservableCollection<CanDbcModel>();
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#region 公共变量
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/// <summary>
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/// 设备固件信息
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/// </summary>
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public USB_DEVICE.DEVICE_INFO DevInfo = new USB_DEVICE.DEVICE_INFO();
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/// <summary>
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/// CAN Config
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/// </summary>
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USB2CAN.CAN_INIT_CONFIG CANConfig = new USB2CAN.CAN_INIT_CONFIG();
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/// <summary>
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/// DBC加载后获取的Handle
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/// DBC Handle
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/// </summary>
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public UInt64 DBCHandle { get; set; }
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/// <summary>
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/// 扫描设备Handle集合
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/// </summary>
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public Int32[] DevHandles { get; set; } = new Int32[20];
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/// <summary>
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/// 扫描设备Handle
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/// </summary>
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public Int32 DevHandle { get; set; } = 0;
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/// <summary>
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/// Write CAN Index
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/// 通道的含义
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/// 描述：
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/// 读取接收到的CAN消息，推荐使用该函数。
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///原型：
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///int WINAPI CAN_GetMsgWithSize(int DevHandle, unsigned char CANIndex, CAN_MSG* pCanGetMsg, int BufferSize);
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///参数：
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///DevHandle 设备句柄，本质为设备序号的低4字节，可以通过调用USB_ScanDevice函数获得。
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///CANIndex CAN通道索引号，0-对应CAN1,1-对应CAN2。
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///pCanGetMsg 存储CAN消息缓冲区首地址。
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///BufferSize 存储CAN消息缓冲区大小。
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///返回值：
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//大于等于0表示从CAN适配器内部成功读取到的CAN消息帧数，若返回值小于0则说明调用该函数失败。
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/// 目前是WriteCANIndex和ReadCANIndex需要相同
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/// </summary>
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public Byte WriteCANIndex { get; set; } = 0;
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/// <summary>
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/// Read CAN Index
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/// 通道的含义
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/// 描述：
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///读取接收到的CAN消息，推荐使用该函数。
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///原型：
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///int WINAPI CAN_GetMsgWithSize(int DevHandle, unsigned char CANIndex, CAN_MSG* pCanGetMsg, int BufferSize);
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///参数：
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///DevHandle 设备句柄，本质为设备序号的低4字节，可以通过调用USB_ScanDevice函数获得。
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///CANIndex CAN通道索引号，0-对应CAN1,1-对应CAN2。
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///pCanGetMsg 存储CAN消息缓冲区首地址。
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///BufferSize 存储CAN消息缓冲区大小。
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///返回值：
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///大于等于0表示从CAN适配器内部成功读取到的CAN消息帧数，若返回值小于0则说明调用该函数失败。
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/// </summary>
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public Byte ReadCANIndex { get; set; } = 0;
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private bool _OpenState;
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/// <summary>
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/// 打开设备的状态
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/// </summary>
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public bool OpenState
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{
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get { return _OpenState; }
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set { _OpenState = value; RaisePropertyChanged(); }
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}
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private bool _DbcParserState;
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/// <summary>
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/// DBC解析的状态
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/// </summary>
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public bool DbcParserState
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{
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get { return _DbcParserState; }
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set { _DbcParserState = value; RaisePropertyChanged(); }
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}
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/// <summary>
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/// 扫描到设备个数
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/// </summary>
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public Int32 DevNum { get; set; }
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public Int32 ret { get; set; }
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public string dllFilePath { get; set; } = "USB2XXX.dll";
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/// <summary>
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/// 消息值Pt
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/// </summary>
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public IntPtr msgPt { get; set; }
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#endregion
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/// <summary>
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/// ******************【1】*********************
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/// 是否存在Dll文件
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/// </summary>
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/// <returns></returns>
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public bool IsExistsDllFile()
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{
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if (!File.Exists(dllFilePath))
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{
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Console.WriteLine("请先将USB2XXX.dll和libusb-1.0.dll文件复制到exe程序文件输出目录下!");
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Console.WriteLine("dll文件在‘usb2can_lin_pwm_example/sdk/libs/windows’目录下！");
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Console.WriteLine("程序是32位的就复制‘x86’目录下文件，程序是64位的就复制‘x86_64’目录下文件！");
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return false;
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}
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return true;
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}
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/// <summary>
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/// ******************【2】*********************
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/// 扫描查找设备，并将每个设备的唯一设备号存放到数组中，后面的函数需要用到
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/// </summary>
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/// <returns></returns>
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public bool ScanDevice()
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{
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DevNum = USB_DEVICE.USB_ScanDevice(DevHandles);
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if (DevNum <= 0)
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{
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Console.WriteLine("No device connected!");
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return false;
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}
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else
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{
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Console.WriteLine("Have {0} device connected!", DevNum);
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DevHandle = DevHandles[0];//获取第一个设备的设备号
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return true;
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}
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}
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/// <summary>
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/// ******************【3】*********************
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/// 打开设备
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/// </summary>
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/// <returns></returns>
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public bool OpenDevice()
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{
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//打开设备
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OpenState = USB_DEVICE.USB_OpenDevice(DevHandle);
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if (!OpenState)
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{
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Console.WriteLine("Open device error!");
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return false;
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}
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else
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{
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Console.WriteLine("Open device success!");
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return true;
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}
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}
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/// <summary>
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/// ******************【4】*********************
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/// 获取设备的固件信息
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/// </summary>
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/// <returns></returns>
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public bool GetDeviceInfo()
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{
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//获取固件信息
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StringBuilder FuncStr = new StringBuilder(256);
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OpenState = USB_DEVICE.DEV_GetDeviceInfo(DevHandle, ref DevInfo, FuncStr);
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if (!OpenState)
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{
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Console.WriteLine("Get device infomation error!");
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return false;
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}
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else
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{
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Console.WriteLine("Firmware Info:");
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Console.WriteLine(" Name:" + Encoding.Default.GetString(DevInfo.FirmwareName));
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Console.WriteLine(" Build Date:" + Encoding.Default.GetString(DevInfo.BuildDate));
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Console.WriteLine(" Firmware Version:v{0}.{1}.{2}", (DevInfo.FirmwareVersion >> 24) & 0xFF, (DevInfo.FirmwareVersion >> 16) & 0xFF, DevInfo.FirmwareVersion & 0xFFFF);
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Console.WriteLine(" Hardware Version:v{0}.{1}.{2}", (DevInfo.HardwareVersion >> 24) & 0xFF, (DevInfo.HardwareVersion >> 16) & 0xFF, DevInfo.HardwareVersion & 0xFFFF);
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Console.WriteLine(" Functions:" + DevInfo.Functions.ToString("X8"));
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Console.WriteLine(" Functions String:" + FuncStr);
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StringBuilder DLLBuildDate = new StringBuilder(256);
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USB_DEVICE.DEV_GetDllBuildTime(DLLBuildDate);
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Console.WriteLine(" DLL Build Date:" + DLLBuildDate);
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return true;
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}
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}
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/// <summary>
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/// ******************【5】*********************
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/// 获取设备Config配置
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/// </summary>
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public void GetCANConfig()
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{
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CANConfig.CAN_Mode = 0x80;//正常模式并接入终端电阻
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//获取CAN波特率参数
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ret = USB2CAN.CAN_GetCANSpeedArg(DevHandle, ref CANConfig, 500000);
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if (ret != USB2CAN.CAN_SUCCESS)
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{
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Console.WriteLine("Get CAN Speed failed!");
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return;
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}
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else
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{
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Console.WriteLine("Get CAN Speed Success!");
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}
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}
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/// <summary>
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/// ******************【6】*********************
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/// 初始化CAN
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/// </summary>
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public void InitCAN()
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{
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//初始化CAN
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ret = USB2CAN.CAN_Init(DevHandle, WriteCANIndex, ref CANConfig);
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if (ret != USB2CAN.CAN_SUCCESS)
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{
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Console.WriteLine("Config CAN failed!");
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return;
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}
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else
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{
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Console.WriteLine("WriteCANIndex Config CAN Success!");
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}
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ret = USB2CAN.CAN_Init(DevHandle, ReadCANIndex, ref CANConfig);
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if (ret != USB2CAN.CAN_SUCCESS)
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{
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Console.WriteLine("Config CAN failed!");
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return;
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}
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else
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{
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Console.WriteLine("ReadCANIndex Config CAN Success!");
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}
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Console.WriteLine("");
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}
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/// <summary>
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/// ******************【7】*********************
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/// DBC解析
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/// </summary>
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public void DBC_Parser(string Path)
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{
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//解析DBC文件
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DBCHandle = CAN_DBCParser.DBC_ParserFile(DevHandle, new StringBuilder(Path));
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if (DBCHandle == 0)
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{
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Console.WriteLine("Parser DBC File error!");
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DbcParserState = false;
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return;
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}
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else
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{
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Console.WriteLine("Parser DBC File success!");
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}
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ListCanDbcModel.Clear();
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//打印DBC里面报文和信号相关信息
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int DBCMsgNum = CAN_DBCParser.DBC_GetMsgQuantity(DBCHandle);
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for (int i = 0; i < DBCMsgNum; i++)
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{
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StringBuilder MsgName = new StringBuilder(32);
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CAN_DBCParser.DBC_GetMsgName(DBCHandle, i, MsgName);
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Console.WriteLine("Msg.Name = {0}", MsgName);
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int DBCSigNum = CAN_DBCParser.DBC_GetMsgSignalQuantity(DBCHandle, MsgName);
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StringBuilder Publisher = new StringBuilder(32);
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CAN_DBCParser.DBC_GetMsgPublisher(DBCHandle, MsgName, Publisher);
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long MsgId;
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MsgId = CAN_DBCParser.DBC_GetMsgIDByName(DBCHandle, MsgName);
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Console.Write("Signals:");
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for (int j = 0; j < DBCSigNum; j++)
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{
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StringBuilder SigName = new StringBuilder(32);
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CAN_DBCParser.DBC_GetMsgSignalName(DBCHandle, MsgName, j, SigName);
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Console.Write("{0} ", SigName);
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//增加信息数据
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ListCanDbcModel.Add(new CanDbcModel()
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{
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MsgName = MsgName.ToString(),
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MsgId = "0x" + MsgId.ToString("X8"),
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SignalName = SigName.ToString(),
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SignalDesc = "",
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SignalUnit = "",
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SignalRtValue = "",
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Publisher = Publisher.ToString()
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});
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}
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Console.WriteLine("");
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}
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//Dbc解析成功
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DbcParserState = true;
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}
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/// <summary>
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/// 发送CAN数据
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/// 发送一次
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/// </summary>
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public void SendCanMsg(List<CanCmdData> CmdData)
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{
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var GroupMsg = CmdData.GroupBy(x => x.MsgName);
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USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[GroupMsg.Count()];
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for (int i = 0; i < GroupMsg.Count(); i++)
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{
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CanMsg[i] = new USB2CAN.CAN_MSG();
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CanMsg[i].Data = new Byte[64];
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}
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IntPtr msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));
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int Index = 0;
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//循环给MSG赋值数据
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foreach (var itemMsg in GroupMsg)
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{
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foreach (var itemSignal in itemMsg)
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{
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CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
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}
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CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPt);
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CanMsg[Index] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPt, typeof(USB2CAN.CAN_MSG));
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Index++;
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}
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//设置信号值
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//DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), 2412);
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//DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), 980);
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//DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), 120);
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//通过DBC写入数据后生成CanMsg
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//将信号值填入CAN消息里面
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//释放申请的临时缓冲区
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Marshal.FreeHGlobal(msgPt);
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Console.WriteLine("");
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//发送CAN数据
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int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, CanMsg, (uint)CanMsg.Length);
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if (SendedNum >= 0)
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{
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Console.WriteLine("Success send frames:{0}", SendedNum);
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}
|
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else
|
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{
|
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Console.WriteLine("Send CAN data failed! {0}", SendedNum);
|
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}
|
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}
|
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|
||
|
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private bool _IsCycleRevice;
|
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/// <summary>
|
||
/// 是否循环接收数据
|
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/// </summary>
|
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public bool IsCycleRevice
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{
|
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get { return _IsCycleRevice; }
|
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set { _IsCycleRevice = value; RaisePropertyChanged(); }
|
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}
|
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|
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|
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private bool _IsCycleSend;
|
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/// <summary>
|
||
/// 是否循环发送数据
|
||
/// </summary>
|
||
public bool IsCycleSend
|
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{
|
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get { return _IsCycleSend; }
|
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set { _IsCycleSend = value; RaisePropertyChanged(); }
|
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}
|
||
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|
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/// <summary>
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/// 循环发送数据
|
||
/// </summary>
|
||
public ushort SendCycle { get; set; } = 100;
|
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|
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/// <summary>
|
||
/// 循环接受数据
|
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/// </summary>
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||
public ushort ReviceCycle { get; set; } = 500;
|
||
|
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/// <summary>
|
||
/// CycleRevice 扫描Task
|
||
/// </summary>
|
||
private static Task CycleReviceTask { get; set; }
|
||
|
||
/// <summary>
|
||
/// CycleSend 扫描Task
|
||
/// </summary>
|
||
private static Task CycleSendTask { get; set; }
|
||
|
||
StringBuilder ValueSb = new StringBuilder(16);
|
||
double[] ValueDouble=new double[5];
|
||
|
||
private bool _IsSendOk;
|
||
/// <summary>
|
||
/// 发送报文是否OK
|
||
/// </summary>
|
||
public bool IsSendOk
|
||
{
|
||
get { return _IsSendOk; }
|
||
set
|
||
{
|
||
if (_IsSendOk != value)
|
||
{
|
||
RaisePropertyChanged();
|
||
_IsSendOk = value;
|
||
}
|
||
}
|
||
}
|
||
|
||
private bool _IsReviceOk;
|
||
/// <summary>
|
||
/// 接收报文是否OK
|
||
/// </summary>
|
||
public bool IsReviceOk
|
||
{
|
||
get { return _IsReviceOk; }
|
||
set
|
||
{
|
||
if (_IsReviceOk != value)
|
||
{
|
||
RaisePropertyChanged();
|
||
_IsReviceOk = value;
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 要发送的数据
|
||
/// </summary>
|
||
public List<CanCmdData> CmdData { get; set; } = new List<CanCmdData>();
|
||
|
||
/// <summary>
|
||
/// 循环发送数据
|
||
/// </summary>
|
||
public void StartCycleSendMsg()
|
||
{
|
||
CycleSendTask = Task.Run(async () =>
|
||
{
|
||
while (IsCycleSend)
|
||
{
|
||
await Task.Delay(SendCycle);
|
||
try
|
||
{
|
||
var GroupMsg = CmdData.GroupBy(x => x.MsgName);
|
||
USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[GroupMsg.Count()];
|
||
for (int i = 0; i < GroupMsg.Count(); i++)
|
||
{
|
||
CanMsg[i] = new USB2CAN.CAN_MSG();
|
||
CanMsg[i].Data = new Byte[64];
|
||
}
|
||
|
||
IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));
|
||
int Index = 0;
|
||
//循环给MSG赋值数据
|
||
foreach (var itemMsg in GroupMsg)
|
||
{
|
||
foreach (var itemSignal in itemMsg)
|
||
{
|
||
CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
|
||
}
|
||
CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
|
||
CanMsg[Index] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));
|
||
Index++;
|
||
}
|
||
//通过DBC写入数据后生成CanMsg
|
||
//将信号值填入CAN消息里面
|
||
|
||
//释放申请的临时缓冲区
|
||
Marshal.FreeHGlobal(msgPtSend);
|
||
Console.WriteLine("");
|
||
//发送CAN数据
|
||
int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, CanMsg, (uint)CanMsg.Length);
|
||
if (SendedNum >= 0)
|
||
{
|
||
Console.WriteLine("Success send frames:{0}", SendedNum);
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("Send CAN data failed! {0}", SendedNum);
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
//LogService.Info($"时间:{DateTime.Now.ToString()}-【Meter】-{ex.Message}");
|
||
}
|
||
}
|
||
});
|
||
}
|
||
|
||
|
||
#region 精确发送报文数据
|
||
|
||
// 添加取消标记源字段用于停止任务
|
||
private CancellationTokenSource CycleSendCts;
|
||
|
||
/// <summary>
|
||
/// 计算每毫秒对应的ticks数（只需计算一次）
|
||
/// </summary>
|
||
private double TicksPerMs;
|
||
|
||
// 类成员变量定义 精确记时用
|
||
private readonly Stopwatch Stopwatcher = new Stopwatch();
|
||
private long NextExecutionTime;
|
||
// 计算需要等待的时间
|
||
private long CurrentTime;
|
||
private long DelayTicks;
|
||
private int DelayMs;
|
||
|
||
private static readonly Random _random = new Random();
|
||
|
||
/// <summary>
|
||
/// 精确周期发送CAN数据
|
||
/// </summary>
|
||
public void StartPrecisionCycleSendMsg()
|
||
{
|
||
// 创建取消标记源 用于控制任务的取消 允许在需要时通过取消令牌来优雅停止任务
|
||
var cancellationTokenSource = new CancellationTokenSource();
|
||
var token = cancellationTokenSource.Token;
|
||
|
||
// 保存取消标记，以便在停止时使用
|
||
CycleSendCts = cancellationTokenSource;//将取消标记源保存到类的成员变量CycleSendCts，这样在外部调用停止方法时可以访问它
|
||
NextExecutionTime = 0;//初始化NextExecutionTime为0，这个变量用于记录下一次执行的目标时间点
|
||
|
||
CycleSendTask = Task.Factory.StartNew(async () =>
|
||
{
|
||
try
|
||
{
|
||
// 设置当前线程为高优先级
|
||
Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
|
||
|
||
// 初始化完成后开始计时
|
||
Stopwatcher.Restart();
|
||
// 预先计算固定值
|
||
long CycleInTicks = (long)(SendCycle * TicksPerMs);
|
||
//临时测试用
|
||
//long lastTicks = Stopwatcher.ElapsedTicks;
|
||
//IsCycleSend
|
||
while (IsCycleSend && !token.IsCancellationRequested)
|
||
{
|
||
try
|
||
{
|
||
// 计算下一次执行时间点 ，将当前设置的发送周期SendCycle(毫秒)转换为Stopwatch的计时单位(tick)，累加到NextExecutionTime上
|
||
NextExecutionTime += CycleInTicks; // 转换为Stopwatch计时单位
|
||
|
||
// 获取当前时间点，以Stopwatch的tick为单位
|
||
CurrentTime = Stopwatcher.ElapsedTicks;
|
||
//计算需要等待的时间，即目标时间点(NextExecutionTime)与当前时间点(CurrentTime)的差值
|
||
DelayTicks = NextExecutionTime - CurrentTime;
|
||
|
||
// 如果还有等待时间，则等待，只有在目标时间点还未到达时才执行等待
|
||
if (DelayTicks > 0)
|
||
{
|
||
////此时是需要等待的，那么需要等待多久呢， 将需等待的tick数转换回毫秒
|
||
DelayMs = (int)(DelayTicks / TicksPerMs);
|
||
//20这个数据是预估和测试的，可能跟Windows抖动误差就是20ms左右，当然可以不用这个IF()判断，直接SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);但是会导致当前独占一个CPU核心线程
|
||
//所以设置一个20的阈值，20ms以下的延迟使用SpinWait.SpinUntil进行自旋等待，20ms以上的延迟使用Task.Delay进行异步等待，让CPU不至于一直的独占
|
||
if (DelayMs <= 20)
|
||
{
|
||
SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);
|
||
}
|
||
else
|
||
{
|
||
////使用Task.Delay进行异步等待，大部分等待时间通过这种方式完成，避免线程阻塞
|
||
await Task.Delay(DelayMs - 20, token);
|
||
//// 使用SpinWait.SpinUntil进行精确的微调等待。自旋等待会占用CPU资源，但能提供更高的定时精度，确保在精确的时间点执行
|
||
////上面的Task.Delay可能会因为系统调度等原因导致实际执行时间稍晚于预期，因此在这里使用SpinWait.SpinUntil来确保在精确的时间点执行
|
||
SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);
|
||
}
|
||
}
|
||
|
||
// 如果已经超过了计划时间，立即执行并重新校准
|
||
if (Stopwatcher.ElapsedTicks >= NextExecutionTime + CycleInTicks)
|
||
{
|
||
//检测是否发生了严重延迟(超过一个周期)。如果当前时间已经超过了下一次计划时间，则说明系统负载过高或其他原因导致无法按时执行，
|
||
//此时重置NextExecutionTime为当前时间，避免连续的延迟累积
|
||
// 严重延迟，重新校准
|
||
NextExecutionTime = Stopwatcher.ElapsedTicks;
|
||
Console.WriteLine("定时发送延迟过大，重新校准时间");
|
||
LoggerService.Info($"定时发送延迟过大，重新校准时间");
|
||
}
|
||
|
||
// 使用Stopwatch记录实际的执行间隔，而不是DateTime
|
||
//Console.WriteLine($"--实际间隔(ms): {(Stopwatcher.ElapsedTicks - lastTicks) / TicksPerMs:F3}, 目标: {SendCycle}");
|
||
//lastTicks = Stopwatcher.ElapsedTicks;
|
||
|
||
//Console.WriteLine($"--当前时间(毫秒): {DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}");
|
||
|
||
|
||
// 执行发送CAN逻辑
|
||
{
|
||
|
||
var GroupMsg = CmdData.GroupBy(x => x.MsgName);
|
||
USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[GroupMsg.Count()];
|
||
for (int i = 0; i < GroupMsg.Count(); i++)
|
||
{
|
||
CanMsg[i] = new USB2CAN.CAN_MSG();
|
||
CanMsg[i].Data = new Byte[64];
|
||
}
|
||
|
||
IntPtr msgPtSend = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)));
|
||
int Index = 0;
|
||
//循环给MSG赋值数据
|
||
foreach (var itemMsg in GroupMsg)
|
||
{
|
||
foreach (var itemSignal in itemMsg)
|
||
{
|
||
CAN_DBCParser.DBC_SetSignalValue(DBCHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
|
||
}
|
||
CAN_DBCParser.DBC_SyncValueToCANMsg(DBCHandle, new StringBuilder(itemMsg.Key), msgPtSend);
|
||
CanMsg[Index] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure(msgPtSend, typeof(USB2CAN.CAN_MSG));
|
||
Index++;
|
||
}
|
||
|
||
//通过DBC写入数据后生成CanMsg
|
||
//将信号值填入CAN消息里面
|
||
|
||
//释放申请的临时缓冲区
|
||
Marshal.FreeHGlobal(msgPtSend);
|
||
|
||
//发送CAN数据
|
||
int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, CanMsg, (uint)CanMsg.Length);
|
||
if (SendedNum >= 0)
|
||
{
|
||
//Console.WriteLine("Success send frames:{0}", SendedNum);
|
||
IsSendOk = true;
|
||
}
|
||
else
|
||
{
|
||
//Console.WriteLine("Send CAN data failed! {0}", SendedNum);
|
||
IsSendOk = false;
|
||
}
|
||
|
||
}
|
||
|
||
}
|
||
catch (TaskCanceledException)
|
||
{
|
||
LoggerService.Info($"精确周期发送CAN数据-任务被取消，正常退出");
|
||
// 任务被取消，正常退出
|
||
IsSendOk = false;
|
||
break;
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Console.WriteLine($"CAN周期发送异常: {ex.Message}");
|
||
// 短暂暂停避免异常情况下CPU占用过高
|
||
IsSendOk = false;
|
||
await Task.Delay(10, token);
|
||
|
||
LoggerService.Info($"精确周期发送CAN数据-{ex.Message}");
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
// 确保在任何情况下（正常退出、异常、取消）都会停止计时器
|
||
Stopwatcher.Stop();
|
||
LoggerService.Info($"精确周期发送CAN数据-{ex.Message}");
|
||
// 清理其他可能的资源
|
||
Console.WriteLine("CAN周期发送任务已结束，资源已清理");
|
||
IsSendOk = false;
|
||
}
|
||
finally
|
||
{
|
||
// 确保在任何情况下（正常退出、异常、取消）都会停止计时器
|
||
Stopwatcher.Stop();
|
||
LoggerService.Info("精确周期发送CAN数据-正常退出、异常、取消）都会停止计时器");
|
||
IsSendOk = false;
|
||
}
|
||
|
||
}, token, TaskCreationOptions.LongRunning, TaskScheduler.Default);
|
||
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 修改停止发送的方法
|
||
/// </summary>
|
||
public void StopCycleSendMsg()
|
||
{
|
||
IsCycleSend = false;
|
||
CycleSendCts?.Cancel();
|
||
}
|
||
|
||
#endregion
|
||
|
||
|
||
/// <summary>
|
||
/// 循环获取CAN消息
|
||
/// </summary>
|
||
public void StartCycleReviceCanMsg()
|
||
{
|
||
CycleReviceTask = Task.Run(async () =>
|
||
{
|
||
while (IsCycleRevice)
|
||
{
|
||
await Task.Delay(ReviceCycle);
|
||
try
|
||
{
|
||
//另外一个CAN通道读取数据
|
||
USB2CAN.CAN_MSG[] CanMsgBuffer = new USB2CAN.CAN_MSG[128];
|
||
//申请数据缓冲区
|
||
IntPtr msgPtRead = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)) * CanMsgBuffer.Length);
|
||
int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, ReadCANIndex, msgPtRead, CanMsgBuffer.Length);
|
||
if (CanNum > 0)
|
||
{
|
||
IsReviceOk = true;
|
||
Console.WriteLine("Read CanMsgNum = {0}", CanNum);
|
||
for (int i = 0; i < CanNum; i++)
|
||
{
|
||
//CanMsgBuffer[i] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)msgPtRead + i * Marshal.SizeOf(typeof(USB2CAN.CAN_MSG))), typeof(USB2CAN.CAN_MSG)); //有溢出报错
|
||
CanMsgBuffer[i] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)(msgPtRead + i * Marshal.SizeOf(typeof(USB2CAN.CAN_MSG))), typeof(USB2CAN.CAN_MSG));
|
||
|
||
Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
|
||
Console.WriteLine("CanMsg[{0}].TimeStamp = {1}", i, CanMsgBuffer[i].TimeStamp);
|
||
Console.Write("CanMsg[{0}].Data = ", i);
|
||
for (int j = 0; j < CanMsgBuffer[i].DataLen; j++)
|
||
{
|
||
Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
|
||
}
|
||
Console.WriteLine("");
|
||
|
||
//报文给高速记录的服务
|
||
HighSpeedDataService.AppendOrUpdateMsg(new Models.HighSpeed.CommMsg()
|
||
{
|
||
Category = "CAN",
|
||
MsgInfo = "0x" + CanMsgBuffer[i].ID.ToString("X8"),
|
||
MsgData = BitConverter.ToString(CanMsgBuffer[i].Data),
|
||
Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")
|
||
});
|
||
}
|
||
}
|
||
else if (CanNum == 0)
|
||
{
|
||
IsReviceOk=false;
|
||
Console.WriteLine("No CAN data!");
|
||
}
|
||
else
|
||
{
|
||
IsReviceOk = false;
|
||
Console.WriteLine("Get CAN data error!");
|
||
}
|
||
Console.WriteLine("");
|
||
|
||
//将CAN消息数据填充到信号里面，用DBC解析数据
|
||
CAN_DBCParser.DBC_SyncCANMsgToValue(DBCHandle, msgPtRead, CanNum);
|
||
|
||
//循环获取消息的数据
|
||
foreach (var item in ListCanDbcModel)
|
||
{
|
||
//有配置的名称的，认为是有用的，则需要读取数据
|
||
//if (!string.IsNullOrEmpty(item.Name))
|
||
//{
|
||
//CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ValueSb);
|
||
//double[] ValueDouble;
|
||
CAN_DBCParser.DBC_GetSignalValue(DBCHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ValueDouble);
|
||
//item.SignalRtValueSb = ValueSb;
|
||
item.SignalRtValue = ValueDouble[0].ToString();
|
||
//Console.Write(ValueSb.ToString());
|
||
//}
|
||
}
|
||
|
||
//释放数据缓冲区，必须释放，否则程序运行一段时间后会报内存不足
|
||
Marshal.FreeHGlobal(msgPtRead);
|
||
Thread.Sleep(10);
|
||
|
||
////获取信号值并打印出来
|
||
//StringBuilder ValueStr = new StringBuilder(32);
|
||
//CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), ValueStr);
|
||
//Console.WriteLine("moto_speed = {0}", ValueStr);
|
||
//CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), ValueStr);
|
||
//Console.WriteLine("oil_pressure = {0}", ValueStr);
|
||
//CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), ValueStr);
|
||
//Console.WriteLine("speed_can = {0}", ValueStr);
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
IsReviceOk = false;
|
||
LoggerService.Info("接收出现异常");
|
||
}
|
||
}
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// 接受CAN消息
|
||
/// </summary>
|
||
public void ReciveCanMsg()
|
||
{
|
||
//另外一个CAN通道读取数据
|
||
USB2CAN.CAN_MSG[] CanMsgBuffer = new USB2CAN.CAN_MSG[10];
|
||
msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)) * CanMsgBuffer.Length);
|
||
int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, ReadCANIndex, msgPt, CanMsgBuffer.Length);
|
||
if (CanNum > 0)
|
||
{
|
||
Console.WriteLine("Read CanMsgNum = {0}", CanNum);
|
||
for (int i = 0; i < CanNum; i++)
|
||
{
|
||
CanMsgBuffer[i] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)msgPt + i * Marshal.SizeOf(typeof(USB2CAN.CAN_MSG))), typeof(USB2CAN.CAN_MSG));
|
||
Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
|
||
//Console.WriteLine("CanMsg[{0}].TimeStamp = {1}",i,CanMsgBuffer[i].TimeStamp);
|
||
Console.Write("CanMsg[{0}].Data = ", i);
|
||
for (int j = 0; j < CanMsgBuffer[i].DataLen; j++)
|
||
{
|
||
Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
|
||
}
|
||
Console.WriteLine("");
|
||
}
|
||
}
|
||
else if (CanNum == 0)
|
||
{
|
||
Console.WriteLine("No CAN data!");
|
||
}
|
||
else
|
||
{
|
||
Console.WriteLine("Get CAN data error!");
|
||
}
|
||
Console.WriteLine("");
|
||
|
||
//将CAN消息数据填充到信号里面
|
||
CAN_DBCParser.DBC_SyncCANMsgToValue(DBCHandle, msgPt, CanNum);
|
||
//获取信号值并打印出来
|
||
StringBuilder ValueStr = new StringBuilder(32);
|
||
CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_moto_speed"), new StringBuilder("moto_speed"), ValueStr);
|
||
Console.WriteLine("moto_speed = {0}", ValueStr);
|
||
CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_oil_pressure"), new StringBuilder("oil_pressure"), ValueStr);
|
||
Console.WriteLine("oil_pressure = {0}", ValueStr);
|
||
CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("msg_speed_can"), new StringBuilder("speed_can"), ValueStr);
|
||
Console.WriteLine("speed_can = {0}", ValueStr);
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 关闭设备
|
||
/// </summary>
|
||
public void CloseDevice()
|
||
{
|
||
//关闭设备
|
||
USB_DEVICE.USB_CloseDevice(DevHandle);
|
||
OpenState = false;
|
||
DbcParserState = false;
|
||
IsCycleRevice = false;
|
||
IsCycleSend = false;
|
||
}
|
||
|
||
}
|
||
}
|